Kinect For Azure / L515 - ICP (lighting invariant mapping)

Posted by matlabbe on Nov 22, 2020; 12:25am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Kinect-For-Azure-L515-ICP-lighting-invariant-mapping-tp7187.html

Hello,

EDIT: Config files for K4A and L515 and be downloaded on v0.20.8 release.

With the L515 and Kinect For Azure, I've seen some great scans but I didn't see any scans in pitch dark using LiDAR capability advantage of those cameras. Here is a config file for Kinect For Azure with ICP mode using this config file: config_k4a_icp_v3.ini. RTAB-Map should be built with libpointmatcher, GTSAM and Kinect For Azure driver. I don't have a L515 to test with, but from what I saw, I think similar parameters could be used. Updated with L515 example below! For quick reference, here are the RTAB-Map parameters that I have modified:

Icp/CorrespondenceRatio=           0.2  (default=0.1)
Icp/PMOutlierRatio=                0.65  (default=0.95)
Icp/Epsilon=                       0.005  (default=0)
Icp/PointToPlaneMinComplexity=     0  (default=0.02)
Icp/VoxelSize=                     0  (default=0.05)
Odom/ScanKeyFrameThr=              0.7  (default=0.9)
OdomF2M/ScanMaxSize=               15000  (default=2000)
Optimizer/GravitySigma=            0.3  (default=0.0)
RGBD/ProximityPathMaxNeighbors=    1  (default=0)
Reg/Strategy=                      1  (default=0)

The Preferences->Source parameters. Note that I use IR mode for Kinect 4 Azure to use the raw LiDAR data (without distortion that could be added when registering to RGB camera and to have the whole LiDAR Field-Of-View) for best accuracy:

For RealSense L515 (this commit required):

Here we generate a downsampled 3D laser scan from the depth image of Kinect to be able to use ICP:

LiDAR intensity (voxel size=1cm):

Normals colored along x-axis:

Normals colored along y-axis:

Normals colored along z-axis:

Colored height ramp (with EDL shader):

Regards,
Mathieu